Near-linear drive systems for positioning reflectors

ABSTRACT

System for positioning a reflector includes a base ( 112 ), yoke ( 104 ) and a reflector in the form of a lens mirror assembly ( 10 ). A motor ( 120 ) is mounted and remains substantially stationary with respect to rotation about a first axis while the yoke rotates about the first axis. A connecting rod ( 152 ) actuated for movement by the motor is mechanically coupled to the reflector so that movement of the connecting rod in relation to the yoke imparts rotation to the reflector about the second axis when the reflector is supported by the yoke. A mechanical drive system couples an output shaft of the motor to the connecting rod. The mechanical drive system is arranged so that it varies an angular position of the reflector at a rate which is linearly related to the rotation of the output shaft.

BACKGROUND OF THE INVENTION

1. Statement of the Technical Field

The inventive arrangements relate to systems for positioning or pointingreflectors on a dynamic or moving basis, and more particularly toreflector assemblies that are used to focus and direct energy to andfrom sensors used in applications such as satellite communications andoptical sensing.

2. Description of the Related Art

Directive sensors, i.e., sensors whose functionality is dependent uponthe relative orientation thereof, are often used in applications thatrequire hemispherical pointing and focusing of the energy being directedto or from the sensor, hereinafter referred to as “the sensor beam.” Apassive reflector in the form of a lens and an attached mirror,hereinafter referred to collectively as a lens/mirror assembly, can beused to focus and direct the sensor beam. To effectuate hemisphericalpointing of the sensor beam, the lens/mirror assembly needs to bemovable so that its azimuth angle, i.e., compass direction, andelevation angle, i.e., the angle above the horizon, can be varied.Hemispherical pointing thus requires that the lens/mirror assemblyrotate about at least two axes.

Lens/mirror assemblies, and other types of reflectors that requirehemispherical pointing can be mounted on devices that facilitatemovement of the lens/mirror assembly about a vertically-oriented axisand a horizontally-oriented axis. For example, the lens/mirror assemblycan be suspended from a yoke or other type of mount that permits thelens/mirror assembly to pivot about the horizontally-oriented axis. Theyoke, in turn, can be mounted on a base or other component that permitsthe yoke and the lens/mirror assembly, hereinafter referred tocollectively as a yoke assembly, to rotate about the vertically-orientedaxis.

Components such as electric motors can be used to impart motion torotate the yoke assembly about the vertical axis and the lens/mirrorassembly about the horizontal axis. The azimuth motor, i.e., the motorthat causes the yoke assembly to rotate about the vertical axis, can bemounted below the base or turntable of the hemispherical pointingdevice, on the non-rotating portion of the device. The elevation motor,i.e., the motor that causes the lens/mirror assembly to pivot about thehorizontal axis, is typically mounted on the rotating yoke. Power forthe motor can be supplied by electric cabling. The use of cabling,however, can prevent the yoke assembly from being able to rotatecontinuously about the vertical axis. In practice, it may be necessaryto reverse the direction of rotation of the yoke assembly after thesecomponents have rotated through a net angular displacement ofapproximately 200°, to avoid stretching and potentially damaging thecabling. The need to reverse the direction of rotation in this mannercan add to the time needed for the system to respond to required changesin the azimuth angle, and can reduce the duty cycle of the motor andother components of the system that effectuate rotation of the yokeassembly.

Brush-type electrical slip rings can be used to transfer electricalpower between the rotating and non-rotating components of ahemispherical pointing device, thereby eliminating the need for cablingto transfer power. Although slip rings can thereby facilitate continuousrotation of the yoke and the lens/mirror assembly about their verticalaxes, slip rings typically wear and require replacement at relativelyfrequent intervals due to the friction inherent in the operationthereof. Slip rings can also be susceptible to the degrading effects ofcorrosion, particularly in seaborne applications. Moreover, the initialcost of slip rings can be relatively high.

In applications where the sensor is an active element that receivesand/or transmits electrical signals and the sensor is mounted to theyoke, the signals need to be transferred between the rotating andnon-rotating components of the hemispherical pointing device. Suchsignal transfer can be effectuated using RF rotary joints. The insertionof RF rotary joints in the signal paths, however, can introduceundesirable power losses in the signals.

SUMMARY OF THE INVENTION

Embodiments of the invention concern systems for positioning passivereflectors, such as lens/mirror assemblies, and other types ofreflectors that need to be pointed in a particular direction. Thesystems effectuate control of both the elevation and azimuth angles ofthe reflector. The embodiments are configured so that a yoke can rotateso as to vary the azimuth angle of the reflector by 360° or more withouta need to reverse the direction of rotation of the yoke, and without theuse of slip rings, RF rotary joints, or electric cable (wrapping).

Embodiments of systems for positioning reflectors comprise a base and ayoke which is mounted on the base. The yoke is arranged to rotate abouta first axis in relation to the base and is capable of supporting thereflector so that the reflector can rotate about a second axis inrelation to the yoke. An azimuth control motor is advantageously used todrive the yoke for rotation around the first axis. The positioningsystem also includes a linkage comprising at least one connecting rod.The linkage is operable to rotate with the yoke about the first axis.The linkage is mechanically coupled to the reflector so that movement ofthe linkage in relation to the yoke imparts rotation to the reflectorabout the second axis when the reflector is supported by the yoke. Thelinkage is capable of being driven for movement in relation to the yokeby a component. For example, the component can be an elevation controlmotor. The arrangement is such that the component remains substantiallystationary with respect to rotation about the first axis while thelinkage and the yoke rotate about the first axis. Notably, the movementof the linkage varies responsive to a movement of the component inaccordance with a relationship that is approximately linear.

According to another aspect, the invention concerns a system forpositioning a reflector including a base, yoke and reflector asdescribed above. An elevation control motor is mounted on the base sothat the elevation control motor remains substantially stationary withrespect to rotation about the first axis while the yoke rotates aboutthe first axis. A connecting rod actuated for movement by the elevationcontrol motor is mechanically coupled to the reflector so that movementof the connecting rod in relation to the yoke imparts rotation to thereflector about the second axis when the reflector is supported by theyoke. A mechanical drive system couples an output shaft of the elevationcontrol motor to the connecting rod. The mechanical drive system isarranged so that it varies the angular position of the reflector in anear linear relationship with respect to the rotation of the outputshaft.

According to another aspect, the invention concerns an antenna system.The antenna system includes a spar formed from a metallic or dielectricmaterial. A reflector is disposed within the radome and an activeelement is mounted on the spar so that the active element radiatesinwardly toward the reflector and/or receives radiant energy reflectedfrom the reflector. The antenna system also includes a system formounting the reflector. The system for mounting the reflector iscomprised of a base and a yoke which is mounted on the base. The yoke isconfigured to rotate about a first axis in relation to the base and iscapable of supporting the reflector so that the reflector is operable torotate about a second axis in relation to the yoke. An elevation controlmotor is fixed to the base and a mechanical drive system is coupled tothe output shaft of the motor. The mechanical drive system is arrangedto cause the reflector to rotate about the second axis at anear-constant angular velocity responsive to a constant rotation of theoutput shaft.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments will be described with reference to the following drawingfigures, in which like numerals represent like items throughout thefigures, and in which:

FIG. 1 is a perspective view of a system for positioning reflectors suchas lens/mirror assemblies, depicting a radome associated with the systemin partial phantom view;

FIG. 2A is a first magnified view of the area designated “A” in FIG. 1;

FIG. 2B is a second magnified view of the area designated “A” in FIG. 1;

FIG. 3A is a cross-sectional view of the system shown in FIGS. 1 and 2,taken through the line “B-B” of FIG. 1;

FIG. 3B shows a drive linkage portion of FIG. 3A which has been enlargedto show detail.

FIG. 4 is a perspective view showing an engagement of a pawl with theworm of the system shown in FIGS. 1-3;

FIG. 5 is an exploded view of the push-pull link shown in the system ofFIGS. 1-3, including the pawl and pawl cap;

FIG. 6 is a plot which is useful for understanding a relationshipbetween lens position in degrees versus time for the system in FIGS.1-5;

FIG. 7 is a plot that is useful for understanding a relationship betweenlens velocity and time for the system in FIGS. 1-5.

FIG. 8 is a block diagram that is useful for understanding a motorcontrol unit which can be used with the present invention.

DETAILED DESCRIPTION

The invention is described with reference to the attached figures. Thefigures are not drawn to scale and they are provided merely toillustrate the instant invention. Several aspects of the invention aredescribed below with reference to example applications for illustration.It should be understood that numerous specific details, relationships,and methods are set forth to provide a full understanding of theinvention. One having ordinary skill in the relevant art, however, willrecognize that the invention can be practiced without one or more of thespecific details or with other methods. In other instances, well-knownstructures or operation are not shown in detail to avoid obscuring theinvention. The invention is not limited by the illustrated ordering ofacts or events, as some acts may occur in different orders and/orconcurrently with other acts or events. Furthermore, not all illustratedacts or events are required to implement a methodology in accordancewith the invention.

As used in this document, the singular form “a”, “an”, and “the” includeplural references unless the context clearly dictates otherwise. Unlessdefined otherwise, all technical and scientific terms used herein havethe same meanings as commonly understood by one of ordinary skill in theart. As used in this document, the term “comprising” means “including,but not limited to”.)

FIGS. 1-5 depict a system 100 for positioning reflectors such as passivereflectors. The system 100 is described herein in connection with apassive reflector in the form of a lens/mirror assembly 10 comprising a“constant-k” or uniform dielectric lens attached to a reflecting mirror,and which requires continuous 360° motion in azimuth and continuoustilting in elevation. This particular type of reflector is depicted forexemplary purposes only. The system 100 can be used to position othertypes of objects that require mechanical positioning on a moving basis,including but not limited to gradient index (Luneberg) lenses, flatmirrors, etc.

The lens/mirror assembly 10 is part of an antenna system that alsoincludes a feed 12. The lens/mirror assembly 10 and feed 12 togetherform a patch antenna. The lens/mirror assembly 10 is a passive elementthat focuses and directs radio frequency (RF) signals to and from theactive feed 12. In particular, the lens of the lens/mirror assembly 10enhances and organizes the electromagnetic energy being directed to orfrom the feed 12, and the mirror redirects the organized energy to itsfinal position. The feed 12 is fixed to a spar in the form of a radome14. The radome 14 covers the lens/mirror assembly 10 and parts of thesystem 100 as shown in FIG. 1. The feed 12 is positioned on the radome14 in a center-uppermost or zenith position. The feed 12 radiatesinwardly toward the lens/mirror assembly 10. The lens/mirror assembly 10collimiates the beam emitted by the feed 12, turns the beam outwardly,and points the beam in a desired direction.

The feed 12 can be communicatively coupled to an RF electronics module18 that receives, generates, and processes the incoming and outgoingsignals. The feed 12 and the module 18 can be communicatively coupledvia cabling 20 secured to the surface of the radome 14. Since thelens/mirror assembly 10 is passive, and the active feed 12 is positionedon the radome 14, the system 100 does not require RF rotary joints orother means for transmitting electrical signals between rotating andnon-rotating components thereof.

The use of the system 100 in connection with a patch antenna type feed12 is disclosed for exemplary purposes only. The system 100 can be usedin connection with other types of devices that require mechanicalpositioning or pointing of a reflective element, such as camera systems,lighting systems, lasers, and other types of antenna systems includingbut not limited to helix, dipole, and waveguide horn antenna systems.Moreover, the feed 12 can be mounted on metallic or dielectric sparsother than the radome 14 in alternative embodiments.

The system 100 comprises a mount in the form of a yoke 104 having afirst and second arm 106 a, 106 b. The lens/mirror assembly 10 ismounted to the yoke 104 via respective shoulder bolts 107 and bearings108 positioned proximate the ends of first and second arms 106 a, 106 b,as shown in FIG. 1. The bearings 108 permit the lens/mirror assembly 10to rotate or pivot in relation to the yoke 104, about ahorizontally-oriented axis “x” denoted in FIG. 1.

The system 100 also includes a base 112. The base 112 can be mounted ona vehicle, airframe, ship, or structure on which the lens/mirrorassembly 10 is to be used. The yoke 104 and the lens/mirror assembly 10are positioned above the base 112, and can rotate in relation to thebase 112 about a vertically-oriented axis denoted by the referencecharacter “z” in FIG. 1.

The system 100 further includes a drive unit 114 mounted on an undersideof the base 112, as shown in FIGS. 1 and 3. The drive unit 114 comprisesa motor control unit 116. The drive unit 114 further comprises anazimuth control motor 118 and an elevation control motor 120 eachcommunicatively coupled to and controlled by the motor control unit 116.The azimuth control motor 118 and the elevation control motor 120 areeach capable of bi-directional i.e., forward and reverse, rotation. Theazimuth control motor 118 and the elevation control motor 120 can be,for example, 12 or 24-volt direct-current micro-motors. Other types ofmotors can be used in the alternative. The azimuth control motor 118 canbe equipped with an encoder 119, shown in FIGS. 3, to track the azimuthangle of the lens/mirror assembly 10. The azimuth motor can alsooptionally include a gearbox 117. The elevation control motor 120 can beequipped with an encoder 122, to track the elevation angle of thelens/mirror assembly 10. The elevation control motor can also include anoptional gearbox 115.

The azimuth control motor 118 is offset from the center of the base 112as shown in FIG. 3A. The azimuth control motor 118 can be suspended fromthe underside of the base 112 using bolts or other suitable means. Theelevation control motor 120 is located directly below the center of thebase 112, and can be suspended from a bracket 121, as shown in FIGS. 3.The bracket 121 can be suspended from the base 112 using bolts or othersuitable means.

The motor control unit 116 is mounted on a bracket 178. The bracket 178can be suspended from the underside of the base 112 by means of bolts orother suitable means. The RF electronics module 18 (not shown in FIGS.3A and 3B) can also be mounted to the base 112 or bracket 178.

The motor control unit 116 includes a processor such as a microprocessor180, a memory 182, and a bus 184, shown in FIG. 8. The bus 184facilitates communication between the microprocessor 180 and the memory182, the azimuth control motor 118, the elevation control motor 120, andother components of the system 100. The memory 182 can comprise a mainmemory 186 and a mass storage device 187, each of which iscommunicatively coupled to the microprocessor 180 by way of the bus 184.The main memory 186 can be, for example, random access memory. The massstorage device 187 can be, for example, a hard or optical disk.

The motor control unit 116 can also include computer-executableinstructions 188 stored on the memory 182, as shown in FIG. 13. Thecomputer-executable instructions 188, when executed on themicroprocessor 180, cause the microprocessor 180 to generate controlinputs for the azimuth control motor 118 and the elevation control motor120. The control inputs cause the selective activation and deactivationof the azimuth control motor 118 and the elevation control motor 120 ina manner that controls the azimuth and elevation angles of thelens/mirror assembly 10, so as to properly position the lens/mirrorassembly 10 for a particular operating condition.

The yoke 104 is mounted for rotation on the base 12 by way of anattaching bolt 127, a ring-shaped spacer 140, bearings 129, a ring gear130, washers 135, and a nut 134 as shown in FIGS. 3A and 3B. Thebearings 129 are concentrically disposed around the outside diameter ofthe attaching bolt 127. The outer races of the bearings 129 can besecured in position to the base 112 by an interference fit or othersuitable means.

The ring-shaped spacer 140 is concentrically disposed around theattaching bolt 127. The ring gear 130 is concentrically disposed aroundthe middle portion of the attaching bolt 127. The ring-shaped spacer 140can be positioned between the ring gear 130 and the underside of thecenter portion 131 of the yoke 104. If necessary, the ring gear 130 maybe pinned together with the ring spacer 140 and yoke 104 to preventrotation of the ring gear 130 with respect to the attaching bolt 127.The bearings 129 are located in a through hole formed at the center ofthe base 112. The outer race of the bearing 129 engages the base 112along a periphery of the through hole as shown in FIGS. 3A and 3B, sothat the bearing 129 is secured to the base 112 in the axial, i.e.,vertical, direction.

The shaft of the attaching bolt 127 extends through a through holeformed in the center portion 131 of the yoke 104, and through a mountingplate 132 located on the center portion 131, as shown in FIG. 3B. Theshaft of the attaching bolt 127 further extends through the inner racesof bearings 129 which are assembled to the base 112.

A head 133 of the attaching bolt 127 rests on the mounting plate 132.The attaching bolt 127 is secured to the yoke 104 and the base throughthe use of a nut 134 and washer 135 as depicted in FIG. 3B. The nut 134engages threads on the lower portion of the attaching bolt 127.Tightening of the nut 134 urges the washer 135 against the inner race ofthe lower bearing 129. This causes the head 133 of the attaching bolt127 to be urged downward, into the mounting plate 132. The sandwichingof the center portion 131 of the yoke 104 between the nut 134 and thehead 133 of the attaching bolt 127 allows the yoke 104 to rotate aboutthe “z” axis with the bolt 127, the ring-shaped spacer 140, the ringgear 130, the washers 135, and the inner races of the bearings 129.

From the foregoing description it can be understood that there are two(2) washers 135 provided in the arrangement shown in FIG. 3B. One washerrides on the inner race of the lower bearing and the other washer rideson the inner race of the upper bearing. When the nut 134 is tightened onthe bolt 127, the ring gear 130 presses on the washer 135 which presseson the inner race of the upper bearing 129. On the bottom side, the nut134 presses on the washer 135 which in turn presses on the inner race ofthe lower bearing 129. Consequently, this design allows the yoke to beattached to the base, but still rotate freely with respect to the base.

The system 100 also includes a drive shaft 136. A portion of the driveshaft 136 is disposed concentrically within the attaching bolt 127, asshown in FIG. 3B. A bore is formed within the attaching bolt 127 toaccommodate the drive shaft 136. The bore is sized so that a clearanceexists between the drive shaft 136 and the attaching bolt 127, therebyfacilitating rotation of the drive shaft 136 in relation to theattaching bolt 127.

The elevation control motor 120 (and optional gearbox 115) is mountedbelow the drive shaft 136 as shown in FIG. 3B, and is coupled to thedrive shaft 136 so that activation of the elevation control motor 120causes the drive shaft 136 to rotate. The term “coupled,” as usedherein, is intended to denote both direct and indirect connectionsbetween two or more parts or components. An upper end of the drive shaft136 is laterally restrained by a flange bushing 138 mounted on a bracket139. The bracket 139 is mounted on the mounting plate 132 on the centerportion 131 of the yoke 104, as shown in FIGS. 1-3.

The azimuth control motor 118 is mechanically coupled to the ring gear130 via a spur gear 141, shown in FIG. 3A. The shaft of the azimuthcontrol motor 118 (or optional gearbox 117) extends through a throughhole formed in the base 112. The shaft is mechanically coupled to thespur gear 141 so that the azimuth control motor 118, when activated,causes the spur gear 141 to rotate. When the spur gear 141 is rotated,it exerts a torque on the ring gear 130. Because the ring gear 130 issecured to the ring-shaped spacer 140 and yoke 104, the torque generatedby the azimuth control motor 118 and exerted on the ring gear 130 istransferred to the yoke 104 and thereby causes the yoke 104 and thelens/mirror assembly 10 to rotate about the vertically-oriented “z”axis.

Thus, it can be seen that the torque generated by the azimuth controlmotor 118 causes the spur gear 141 to rotate, which in turn causes thering gear 130 to rotate about the vertically-oriented “z” axis. Thesandwiching of the ring gear 130 generated by the attaching bolt 127 andnut 134 causes the yoke 104 to rotate with the ring gear 130. Becausethe lens/mirror assembly 10 is mounted to the yoke 104, activation ofthe azimuth control motor causes the yoke 104 and the lens/mirrorassembly 10 to rotate about the “z” axis. Rotation of the lens/mirrorassembly 10 about the “z” axis varies the azimuth angle of thelens/mirror assembly 10. Thus, the azimuth angle of the lens/mirrorassembly 10 can be controlled by selectively activating and deactivatingthe azimuth control motor 118 using inputs generated by themicroprocessor 180 of the motor control unit 116.

The above details relating to the manner in which the yoke 104 ismounted and rotated are disclosed for exemplary purposes only. The yoke104 can be mounted and rotated using other means in alternativeembodiments. For example, drive belts can be used in lieu of theabove-described gearing to drive the yoke 104 for rotation about the “z”axis.

As discussed below, the configuration of the system 100 obviates anyneed to supply electrical power between the base 112 and the componentsof the system 100, such as the yoke 104, that rotate in relation to thebase 112. Thus, there is no need for cabling or slip rings to transferelectrical power between the rotating and non-rotating components of thesystem 100. This feature permits the yoke 104 and the lens/mirrorassembly 10 to rotate continuously about the “z” axis, and thus permitsthe azimuth angle of the lens/mirror assembly 10 to be varied by 360° ormore without having to reverse the direction of rotation of thelens/mirror assembly 10.

The system 100 further includes a worm gear-set 150, a linkage in theform of a push/pull link 151 and a rigid connecting rod 152 for varyingthe elevation angle of the lens/mirror assembly 10. The push/pull linkis depicted separately in FIG. 5. The gear-set 150 includes a screw orworm 153, shown in FIGS. 1-4, and a pawl 154 as shown in FIGS. 3-5. Theworm 153 is securely mounted on an upper end of the drive shaft 136 byan interference fit or other suitable means, so that the worm 153rotates with the drive shaft 136. In some embodiments, the worm can beintegrally formed with the drive shaft.

The pawl 154 is rotatably mounted within the push/pull link 151. Thepawl 154 engages the worm 153 and this engagement is depicted in furtherdetail in FIG. 4. An exploded view which shows the rotatably mountingarrangement of the pawl within the push/pull link 151 is depicted infurther detail in FIG. 5. The arrangement of the pawl 154 and worm 153is such that when rotational motion imparted to the drive shaft 136, thegear-set 150 will cause push/pull link 151 to move in a directionaligned with the “z” axis, parallel to the elongated axial length of theworm 153. A guide bar 156 is inserted within a guide aperture formed onthe push/pull link 151 as shown in FIGS. 2-3. The guide bar 156 is fixedin position at an upper end thereof by means of a support bracket 157.The guide bar 156 is secured at its lower end to the mounting plate 132.The guide bar 156 guides the push/pull link 151 along a vertical pathaligned with the “z” axis, and prevents the push/pull link 151 fromrotating in response to rotation of the worm 153. The drive shaft 136,worm 153, pawl 154, and the push-pull link 151 comprise a mechanicaldrive system which is capable of imparting movement to the connectingrod 152.

A first end of the connecting rod 152 is pivotally coupled to thepush/pull link 151 via a shoulder pin 161 as shown in FIGS. 1-3, so thatmotion of the push/pull link 151 along a path aligned with the “z” axiswill impart movement to the first end of the connecting rod 152. Asecond end of the connecting rod 152 is pivotally coupled to a flange162 positioned on an underside of lens/mirror assembly 10, via anothershoulder pin 161. The connecting rod 152 thus functions as a linkagethat transmits the force exerted by push/pull link 151 on the connectingrod 152 to the lens/mirror assembly 10. This force, in combination withthe restraining forces exerted on the lens/mirror assembly 10 by theyoke 104 via the bearings 108, cause the lens/mirror assembly 10 torotate about the horizontal axis “x” in response to rotation of the worm153.

Thus, it can be seen that the torque generated by the elevation controlmotor 120 causes the drive shaft 136 to rotate, which in turn rotatesthe worm 153. As a result of such rotation, the pawl 154 is caused tomove in transverse helical grooves 155 a, 155 b formed on the surface ofthe worm 153. The movement of the pawl 154 is in a direction alignedwith the “z” axis. The forces exerted upon the pawl 154 by the worm 153will be imparted to push/pull link 151. These forces will cause thepush/pull link 151 to move in a direction aligned with the “z” axis.This movement of the push/pull link 151 will in turn move connecting rod152 in a manner that causes the lens/mirror assembly 10 to pivot orrotate about the horizontal “x” axis.

Rotation of the lens/mirror assembly 10 about the “x” axis varies theelevation angle of the lens/mirror assembly 10. Thus, the elevationangle of the lens/mirror assembly 10 can be controlled by selectivelyactivating and deactivating the elevation control motor 120 using inputsgenerated by the microprocessor 180 of the motor control unit 116. Theelevation angle of the lens/mirror assembly 10 can be varied by, forexample, approximately 55°. This degree of variation, in combinationwith the azimuth-angle control, facilitates hemispherical coverage forthe antenna beam.

The start and end points for the rotational motion of the lens/mirrorassembly 10 about the horizontal “x” axis can be changed by, forexample, varying the length of the connecting rod 152, and/or varyingthe location on the underside of lens/mirror assembly 10 at which theflange 162 is mounted. Moreover, the system 10 can be configured so thatthe start and end points can be adjusted after assembly. For example, aturnbuckle with left and right-hand threads can be incorporated intovariants of the connecting rod 152 to alter the start and end points.

Because the elevation control motor 120 is mounted on the base 112,rather than on the yoke 104 or another component that rotates inrelation to the base 112, there is no need to supply electrical power tothe yoke 104 or other rotating components. This feature, as discussedabove, permits the yoke 104 and the lens/mirror assembly 10 to rotatecontinuously about the “z” axis without the use of slip rings or othermeans for transferring electrical power between rotating andnon-rotating components.

Due to the inherent mechanical characteristics of worm drives, the wormgear-set 150 cannot be back driven, i.e., the pawl 154 cannot cause theworm 153 to rotate. Thus, the loads on the lens/mirror assembly 10 donot need to be balanced about the axis of rotation “x,” since unbalanceabout this axis will not cause back-drive of the worm 153, drive shaft136, or elevation control motor 120, although balancing is recommendedin applications where continuous high-speed rotation of the yoke 104 andthe lens/mirror assembly 10 about the “z” axis is anticipated.

Moreover, as a result of the configuration of the system 100, theposition of the lens/mirror assembly 10 will not be locked or frozen ifthe elevation drive motor 120 fails, i.e., the lens/mirror assembly 10can still be rotated about vertical “z” axis following a failure of theelevation drive motor 120.

Moreover, the computer-executable instructions 188 of the motor controlunit 116 can be configured so as to effectuate control of the elevationangle of the lens/mirror assembly 10 after a failure of the elevationcontrol motor 120. In particular, the elevation angle of the lens/mirrorassembly 10 can be varied without activating the elevation control motor120, by rotating the yoke 104 about the “z” axis using the azimuthcontrol motor 118. Rotating the yoke 104 while the elevation controlmotor 120 is inactive will cause the pawl 154 of the worm gear-set 150to orbit about the worm 153, which will be stationary if the elevationdrive motor 120 is inactive. The orbital motion of the pawl 154 aboutthe worm 153 causes the worm 153 to urge the pawl 154 in a directionaligned with the “z” axis. Rotation of the pawl 154 imparts a force tothe push/pull link 151 and the connecting rod 152, which in turn variesthe elevation angle of the lens/mirror assembly 10. Thus, a desiredelevation angle for the lens/mirror assembly 10 can be achieved byrotating the yoke 104 while the elevation control motor 120 is inactiveand the worm 153 is stationary. The amount of rotation required toproduce a desired elevation angle is dependent upon the differencebetween the actual and desired elevation angles. It may be necessaryunder some circumstances to rotate the yoke 104 through multiplerevolutions to achieve the desired elevation angle.

The computer-executable instructions 188 of the motor control unit 116can be configured to recognize a failure of the elevation control motor120, and other circumstances that would prevent the control of theelevation angle through the use of the elevation control motor 120. Thecomputer-executable instructions 188, in conjunction with themicroprocessor 180, can effectuate elevation-angle control in a back-upmode under such circumstances, by generating control inputs that causethe azimuth control motor 118 to rotate the yoke 104 in the appropriatedirection until the desired elevation angle is achieved.

Alternative embodiments of the system 10 can be configured without theelevation control motor 120 and the drive shaft 136. Control of theelevation angle of the lens/mirror assembly 10 can be effectuated solelyby rotating the yoke 104 about the worm 153 or a similar structure,using the azimuth control motor 118 in the above-described manner. Thisembodiment can thus provide hemispherical pointing of the lens/mirrorassembly 10 using a single motor.

Referring now to FIG. 4, it can be observed that the worm 153 is adouble cut worm insofar as it has a pair of transverse helical grooves.The double helices are connected at opposing ends of the worm 153 by atransitional part 163 of the grooves having a suitably curved orstraight contour. Pawl 154 has a generally cylindrical profile as shown.A tab 158 is formed at a tab end of the cylindrical pawl 154. The tab158 has a flattened or planar profile as shown which extendstransversely from an end portion of the cylindrical pawl 154. A heightdimension “h” of the tab 158 is chosen so that the tab fits snuglybetween opposing sidewalls defining the grooves 155 a, 155 b. An endface 159 of tab 158 advantageously has a curved profile which is chosento allow the end face to conform to curved contour defined by the grooveof the worm 153.

As best understood from FIG. 5, the pawl 154 is mounted in the push-pulllink 151 by inserting the tab 158 end of the pawl 154 within the hollowcylindrical guide member 165, so that the tab 158 will engage with oneof the helical grooves 155 a, 155 b. A cap 154 is then threaded onto theend of the guide member 165 to retain the pawl 154 therein. Theforegoing arrangement will provide a secure tabbed engagement of thepush/pull link 151 and worm 153, but will allow the pawl 154 to rotateabout its cylindrical axis R as it moves up and down along the length ofthe worm 153.

As will be understood from FIG. 4, the grooves 155 a, 155 b are cut sothat rotation of the worm 153 in one direction will guide the pawl 154along the length of a first helical groove in a first direction alignedwith the “z” axis, after which continued rotation in the same directionwill cause the pawl 154 to move through the transitional part 163 tothen engage the second helical groove and begin traveling in an oppositedirection which is also aligned with the “z” axis. The foregoingarrangement is advantageous insofar as it provides a near linearrelationship between the rotation of the elevation drive motor 120 andthe lens rotational position. The foregoing relationship will be bestunderstood in relation to FIGS. 6 and 7.

FIG. 6 is a plot which shows angular lens position in degrees versustime for an elevation drive system utilizing a double-cut worm with pawlas described herein in relation to FIGS. 1-5. The plot 604 for thedouble-cut worm system shows a linear or near linear relationshipbetween the time required to perform a complete cycle of the push/pulllink 151 and the lens position. Of course, this relationship does notinclude variations which will occur at the transition point 606, whichwill naturally be non-linear. As used herein, the phrase “near linear”should be understood to mean that the lens rotation position versus timewill deviate less than about 10% from linear when driven by a motorhaving a constant angular velocity. This linear or near linearrelationship reduces the need for higher motor speeds because there areno portions of the lens rotational cycle during which significantlyhigher motor speeds are needed to maintain constant rotational velocityof the lens. Accordingly, the motor selection criteria are more relaxedbecause high rotational speed becomes less of a consideration.

FIG. 7 shows a plot 704 of the lens velocity when the lens is driven bythe double-cut worm as described in relation to FIG. 6. It can beobserved that the velocity of the lens over time is of nearly constantmagnitude throughout the entire angular range of movement. Further, whenthe lens passes through the transition point 606 (where the lens changesits direction of rotation), the change in rotation direction occursalmost instantaneously. The near vertical slope of plot 604 which existsat the transition point 606, evidences a very rapid change in velocity.

From the foregoing, it will be understood that the present inventionincludes a mechanical drive system which couples an output shaft of adrive motor 120 to the reflector. The mechanical drive system isarranged so that it varies an angular position of a reflector (e.g. apassive reflector in the form of a lens/mirror assembly 10) at aconstant or nearly constant rate when driven by a motor output shaftwhich is rotated at a constant rate. Stated differently, the mechanicaldrive system is arranged so that it varies the angular position of thereflector in a nearly linear relationship with respect to the rotationof the output shaft. Consequently, angular velocity of the reflector isnearly constant in magnitude over time when the drive motor is operatedat constant speed. This result is achieved by arranging the mechanicaldrive system so that push/pull link 151 (which forms a mechanicallinkage between the reflector and the mechanical drive system) moves ina linear relationship to the rotation of the motor.

All of the apparatus, methods and algorithms disclosed and claimedherein can be made and executed without undue experimentation in lightof the present disclosure. While the invention has been described interms of preferred embodiments, it will be apparent to those of skill inthe art that variations may be applied to the apparatus, methods andsequence of steps of the method without departing from the concept,spirit and scope of the invention. More specifically, it will beapparent that certain components may be added to, combined with, orsubstituted for the components described herein while the same orsimilar results would be achieved. All such similar substitutes andmodifications apparent to those skilled in the art are deemed to bewithin the spirit, scope and concept of the invention as defined.

We claim:
 1. A system for positioning a reflector, comprising: a base; ayoke mounted on the base for rotation about a first axis in relation tothe base and being capable of supporting the reflector so that thereflector can rotate about a second axis in relation to the yoke; and alinkage comprising at least one connecting rod, wherein: the linkage isoperable to rotate with the yoke about the first axis; the linkage ismechanically coupled to the reflector so that movement of the linkage inrelation to the yoke imparts rotation to the reflector about the secondaxis when the reflector is supported by the yoke; and the linkage iscapable of being driven for movement in relation to the yoke by acomponent that remains substantially stationary with respect to rotationabout the first axis while the linkage and the yoke rotate about thefirst axis, wherein the movement of the linkage varies responsive to amovement of the component in accordance with a relationship that isapproximately linear.
 2. The system of claim 1, further comprising anazimuth control motor mounted on the base and mechanically coupled tothe yoke so that the azimuth control motor is operable to impartrotation to the yoke about the first axis.
 3. The system of claim 2,wherein the component that drives the linkage for movement in relationto the yoke, and which remains substantially stationary with respect torotation about the first axis while the linkage and the yoke rotateabout the first axis, is an elevation control motor.
 4. The system ofclaim 2, further comprising a worm gear-set that is configured to drivethe linkage for movement in relation to the yoke, the worm gear-setcomprising a worm, and a pawl that engages the worm so that relativemovement between the worm and the pawl imparts translational movement tothe pawl.
 5. The system of claim 4, wherein: a first end of theconnecting rod is mechanically coupled to the lens/mirror; and a secondend of the connecting rod is mechanically coupled to the pawl so thatthe translational movement of the pawl imparts movement to theconnecting rod in relation to the yoke.
 6. The system of claim 5,further comprising an elevation control motor mounted on the base, and adrive shaft, wherein: the drive shaft is mechanically coupled to theelevation control motor so that the elevation control motor is operableto impart rotation to the drive shaft; the drive shaft is mechanicallycoupled to the worm so that rotation of the drive shaft imparts rotationto the worm; rotation of the worm imparts translational motion to thepawl of the worm-gear set; and wherein the component that drives thelinkage for movement in relation to the yoke and can remainsubstantially stationary with respect to rotation about the first axiswhile the linkage and the yoke rotate about the first axis, is theelevation control motor.
 7. The system of claim 6, further comprising anattaching bolt and a gear concentrically disposed around the attachingbolt, said attaching bolt concentrically disposed around the driveshaft, and a contact bearing concentrically disposed around theattaching bolt, said contact bearing including an outer race thatengages the base, wherein the attaching bolt is mechanically coupled tothe yoke so that the yoke rotates about the first axis with theattaching bolt, and the gear is mechanically coupled to the azimuthcontrol motor so that the azimuth control motor drives the yoke forrotation about the first axis by way of the gear and the bolt.
 8. Thesystem of claim 1, further comprising at least one encoder configured todetermine when one or both of an elevation angle and an azimuth angle ofthe lens has reached a reference position.
 9. The system of claim 6,wherein the azimuth control motor and the elevation control motor aremounted on an underside of the base, opposed from said yoke.
 10. Asystem for positioning a reflector, comprising: a base; a yoke mountedon the base for rotation about a first axis in relation to the base andbeing capable of supporting the reflector so that the reflector canrotate about a second axis in relation to the yoke; a elevation controlmotor mounted on the base so that the elevation control motor remainssubstantially stationary with respect to rotation about the first axiswhile the yoke rotates about the first axis; a connecting rod actuatedfor movement by the elevation control motor and mechanically coupled tothe reflector so that movement of the connecting rod in relation to theyoke imparts rotation to the reflector about the second axis when thereflector is supported by the yoke; and a mechanical drive system whichcouples an output shaft of the elevation control motor to the connectingrod, the mechanical drive system arranged so that it varies an angularposition of the reflector in a near linear relationship with respect tothe rotation of the output shaft.
 11. The system of claim 10, furthercomprising a azimuth control motor mechanically coupled to the yoke sothat the azimuth control motor is operable to impart rotation to theyoke about the first axis in relation to the base.
 12. The system ofclaim 10, wherein the mechanical drive system includes a gear-set havinga first component driven in rotation by the elevation control motor, anda second component driven along a linear path by the first component,the second component being mechanically coupled to the connecting rod sothat the second component is configured to move the connecting rod inrelation to the yoke.
 13. The system of claim 12, wherein the gear-setis a worm gear-set, the first component is a worm, and the secondcomponent is a pawl.
 14. The system of claim 10, wherein: the mechanicaldrive system comprises a gear-set including a worm and a pawl thatengages the worm; a push-pull link to which the pawl is pivotallycoupled; and an end of the connecting rod is pivotally coupled to thepush-pull link; and the rotation of the worm drives the pawl along apath which extends in a direction parallel to an elongated length of theworm.
 15. An antenna system, comprising: a spar formed from a metallicor dielectric material; a reflector disposed within the radome; anactive element mounted on the spar so that the active element radiatesinwardly toward the reflector and/or receives radiant energy reflectedfrom the reflector; and a system for mounting the reflector, comprising:a base; and a yoke mounted on the base for rotation about a first axisin relation to the base and being capable of supporting the reflector sothat the reflector is operable to rotate about a second axis in relationto the yoke; an elevation control motor fixed to the base, the elevationcontrol motor including an output shaft; and a mechanical drive systemcoupled to the output shaft and arranged to cause the reflector torotate about the second axis at a near-constant angular velocityresponsive to a constant rotation of the output shaft.
 16. The system ofclaim 15, wherein the spar is a radome that holds the active element.17. The system of claim 15, wherein the system for mounting thereflector further comprises a linkage comprising at least one connectingrod, wherein: the linkage rotates with the yoke about the first axis;the linkage is mechanically coupled to the reflector so that movement ofthe linkage in relation to the yoke imparts rotation to the reflectorabout the second axis when the reflector is supported by the yoke; andthe linkage is driven for movement in relation to the yoke by themechanical drive system.
 18. The system of claim 15, wherein thereflector is a passive reflector.
 19. The system of claim 18, whereinthe passive reflector is a lens/mirror assembly.